WO2018024704A1 - Système et procédé de réglage d'une pièce extérieure de véhicule - Google Patents

Système et procédé de réglage d'une pièce extérieure de véhicule Download PDF

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Publication number
WO2018024704A1
WO2018024704A1 PCT/EP2017/069382 EP2017069382W WO2018024704A1 WO 2018024704 A1 WO2018024704 A1 WO 2018024704A1 EP 2017069382 W EP2017069382 W EP 2017069382W WO 2018024704 A1 WO2018024704 A1 WO 2018024704A1
Authority
WO
WIPO (PCT)
Prior art keywords
outer part
value
adjusting
vehicle outer
vehicle
Prior art date
Application number
PCT/EP2017/069382
Other languages
German (de)
English (en)
Inventor
Martin WÖLFLE
Original Assignee
Conti Temic Microelectronic Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic Gmbh filed Critical Conti Temic Microelectronic Gmbh
Publication of WO2018024704A1 publication Critical patent/WO2018024704A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/71—Power-operated mechanisms for wings with automatic actuation responsive to temperature changes, rain, wind or noise
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/36—Speed control, detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors not directly associated with the wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/456—Control modes for programming, e.g. learning or AI [artificial intelligence]
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles

Definitions

  • the invention relates to a system and a method for adjusting a vehicle outer part of the type specified in the preambles of the independent patent claims.
  • a tailgate of a motor vehicle serving as drive means electric motors are used, which are controlled by means of a control loop ⁇ .
  • Vehicle exterior part a drive device for adjusting the vehicle outer part is operated by means of a controller having a control loop. It is inventively provided detecting at least one influencing variable, which has an external influence on a vehicle for adjusting the outer member on ⁇ zumelde force. A precontrol value for a pilot control of the control loop is determined on the basis of the at least one detected influencing variable and a provided model which describes a relationship between the at least one influencing variable and the force to be applied for adjusting the vehicle outer part. Finally, the precontrol is operated using the determined precontrol value.
  • An essential core idea of the invention is thus to calculate in advance an expected course of a state variable which is dependent on the load of the drive device, taking into account measurable external influences via a mathematical model.
  • the adjustment of the vehicle ⁇ outside part can be torque, speed or position-controlled by means of the control loop, combinations are also possible by a corresponding nesting of the control loop.
  • the vehicle outer part can be controlled in an improved manner under Ver ⁇ application of the pilot control value calculated. Since the feedforward control is operated using the determined precontrol value, external influences which have an external influence on the force to be applied for adjusting the vehicle outer part can be taken into account particularly quickly and reliably when adjusting the vehicle outer part.
  • An advantageous embodiment of the invention provides that a difference between a load-dependent state variable of the drive device, for example in the form of a current applied to the drive device or measured current, and the precontrol value formed and determined depending on the difference, a second pilot control value for the pilot control and the pilot control additionally using the determined second Pre-tax value is operated.
  • a difference between a load-dependent state variable of the drive device for example in the form of a current applied to the drive device or measured current
  • a second pilot control value for the pilot control and the pilot control additionally using the determined second Pre-tax value is operated.
  • Mechanical effects on the vehicle outer part which are influenced due to the at least one in ⁇ flow size, can lead to load current fluctuations.
  • the current to be applied by the drive device for adjusting the vehicle outer part can be very different. Characterized in that a difference between the load-dependent state variable of the drive device and the pilot control value is formed, mechanical effects can be compensated via the pilot control.
  • the vehicle outer part could have manufacturing-related irregularities, for example unwanted grooves or the like, which would in themselves lead to a sudden adjustment behavior of the vehicle outer part.
  • Such, in particular production-related irregularities can be modeled difficult or impossible.
  • due to the described difference formation between the load-dependent state variable of the drive device and the first precontrol value it is possible to draw conclusions about such poorly modelable properties during the adjustment of the vehicle outer part.
  • a further advantageous embodiment of the invention provides that on the basis of the difference, a reference characteristic, preferably slowly, so continuously with each control of the drive device, is adjusted, which is a vorgege- "
  • the reference characteristic can be a kind of Me ⁇ mechanics reference current characteristic of the drive means. This is adjusted on the basis of the determined difference between the load-dependent state variable of the drive device, that is, for example, the measured current, and the pre-control value.
  • the reference characteristic curve can be obtained for example by a test run when adjusting the vehicle outer part.
  • Angular position of a drive shaft of the electric motor can be obtained in the form of the reference characteristic.
  • a respective position of the actuator will be ⁇ taken into account in the model and / or the Refe rence ⁇ characteristic.
  • a respective drive direction of the vehicle exterior portion is taken into account within the reference characteristic.
  • the drive device comprises at least one electric motor, wherein the precontrol values and the load-dependent Zustestand supportive Zustestand supportive are respective current values for the electric motor and the position of the actuator is an angular position of a motor shaft of the electric motor.
  • ⁇ drive device may, for example, be a Ser act of derotor.
  • a servomotor special electric motors are called, which allow the control of the angular position of their Mo ⁇ torwelle and the rotational speed and acceleration.
  • Such an electric motor can be controlled particularly well in the manner according to the invention.
  • the vehicle outer part is a tailgate of a motor vehicle.
  • the vehicle exterior may be any adjustable exterior vehicle parts.
  • a further advantageous embodiment of the invention provides that - in the case of the designed as a tailgate driving ⁇ generating outer part - is determined as an influencing variable, an inclination angle into ⁇ particular a pitch angle of the motor vehicle, wherein the mounted model a relationship between the angle of inclination of the motor vehicle and a describes the force to be applied to hold the vehicle outer part.
  • the model can be a static model, for example in the form of a weight-force-current characteristic.
  • a further advantageous embodiment of the invention provides that in the case of the tailgate designed as driving external part - as the influencing variable or as a further in ⁇ flow size an ambient temperature is determined, wherein the provided model or another model provided describes a relationship between the ambient temperature and a means of at least one spring, in particular a gas spring ⁇ pressure force applied to the tailgate holding force.
  • the invention is based on the finding that in a conventional drive concept of tailgates usually a me ⁇ chanical spring or a gas spring is installed to support that already compensates for a large proportion of the weight of the tailgate.
  • the supporting force of the spring can also be converted into a motor-side current characteristic based on kinematics, spring and motor data.
  • an acceleration profile may be specified with regard to the adjustment movement of the vehicle outer part. For example, from a predetermined speed curve for the electric motor, a speed profile and thus also an acceleration curve for the adjustment movement of the vehicle outer part, for example in the form of the tailgate, be determined. It is also possible to attach an acceleration sensor to the tailgate and thus determine the actual course of acceleration. Under Be ⁇ account the mass inertia of the tailgate can be at the basis of the acceleration profile - either pre ⁇ given or measured - an expected current value curve, for example as a function of an angular position of a motor shaft of the form of an electric motor drive device can be calculated.
  • a respective current value from the current value profile can then be used as a further pilot value for the precontrol.
  • at least one type of ideal dynamic behavior of the tailgate is taken into account in the feedforward control.
  • a further advantageous embodiment of the invention provides that the pre-control value and / or the second pre-control value are incorporated in a anti-trapping function of the vehicle outer part.
  • the anti-pinch function can be an anti-pinch algorithm which prevents, for example, persons from being injured during the automatic adjustment of the vehicle outer part.
  • the system according to the invention for adjusting a vehicle outer part comprises a drive device for adjusting the vehicle outer part and a control loop for operating the drive device.
  • the system according to the invention is characterized in that it has a detection device, which is designed to detect at least one influencing variable, which has an external influence on one for adjusting the
  • the system according to the invention has a data processing device which is designed to provide a precontrol value for a Control of the control loop based on the at least one detected influencing variable and a provided model, which describes a relationship between the at least one influencing variable and the applied force for adjusting the vehicle outer part to determine force.
  • the pilot control is designed to use the determined pilot control value when driving the drive device.
  • the motor vehicle according to the invention comprises the system according to the invention for adjusting a vehicle outer part or an advantageous embodiment of the system according to the invention.
  • FIG. 1 shows a schematic representation of a motor vehicle which has an adjustable tailgate by means of an electric motor, wherein the motor vehicle also comprises a system with a control circuit, by means of which the electric motor for adjusting the vehicle outer part is controllable;
  • 2 shows a schematic representation of the control loop of the system for adjusting the tailgate, wherein the control loop comprises a pilot control;
  • FIG. 3 shows a schematic representation of a procedure for the determination and adaptive adaptation of precontrol values that feed into the precontrol of the control loop.
  • identical or functionally identical elements are provided with the same reference numerals.
  • gas springs 16 are mounted, which serve as a support, since they hold in the open state of the tailgate 12 a certain proportion of the weight of the tailgate 12 or compensate.
  • the motor vehicle 10 further comprises a system 18, which has a control loop 20, a data processing device 22 and a detection device 24.
  • the control circuit 20 is used for controlling and controlling the electric motor 14 during an adjustment process of the vehicle outer part, ie the tailgate 12.
  • the detection device 24 is designed to determine an inclination angle ⁇ of the motor vehicle, in particular a pitch angle of the motor vehicle 10, and an ambient temperature T.
  • the data processing device 22 is designed to adapt values or parameters of the control loop taking into account the currently prevailing ambient temperature T and the current inclination angle ⁇ , in particular taking into account the current pitch angle of the motor vehicle 10.
  • control circuit 20 designed for controlling and driving the electric motor 14 control circuit 20 is shown schematically.
  • the control circuit 20 comprises a controller 26 and a pilot control 28, which on a controlled system 30 and thus thus act on the electric motor 14.
  • a reference variable 32 which may be 12, for example, a predetermined displacement of the tailgate.
  • the controller 26 and the pilot control 28 act in total with a manipulated variable 34, for example in the form of a specific voltage value, on the controlled system 30.
  • FIG. 3 schematically shows a procedure in which a first precontrol value 36 and a second precontrol value 38 for the precontrol 28 of the control loop 20 are obtained.
  • the precontrol values 36, 38 may be current values. These can, after being fed to the precontrol 28, be converted into corresponding voltage values by means of this, for example, if the electric motor 14 is voltage-controlled.
  • a first model in the form of a weight ⁇ force-current characteristic curve 40 and a second model in the form of a support-current characteristic field 42nd The means of the He ⁇ capture device ⁇ 24 currently detected tilt angle, in particular in the form of an actual pitch angle of the motor ⁇ vehicle 10, and an angular position ⁇ of a motor shaft of the electric motor 14 into the weight-force-current characteristics 40 flow.
  • Has the weight-current characteristic 40 allows having regard to the angle of inclination ⁇ and the angular ⁇ position ⁇ determining a first value 44 for the motor current which ⁇ for a specific tilt angle and a very specific angular position ⁇ on the electric motor 14 applied to the Tailgate 12 to hold.
  • very different first values 44 may be required for solely holding the tailgate 12.
  • the backup power map 42 describes a relationship between compression springs 16 for holding the tailgate 12 applied holding force as a function of the ambient temperature T and the angular position ⁇ and a second value 46 for the motor current of the electric motor 14. This second value 46 would have to be applied to the electric motor 14 in order by the gas pressure springs 16th applied holding force on the tailgate 12 to realize. Depending on the measured ambient temperature T, the gas pressure springs 16 behave differently and therefore bring about different holding forces on the tailgate 12.
  • the coatable by the gas springs 16 holding forces are also dependent on the current position of the tailgate 12 which ⁇ with the angular position korres ⁇ pondiert the motor shaft of the electric motor fourteenth Instead of the angular position ⁇ of the motor shaft of
  • the first precontrol value 36 By detecting the inclination angle ⁇ and the ambient temperature T as well as taking into account these parameters in the respective models 40, 42 influencing variables are thus taken into account and recorded which have an external influence on a force to be applied for adjusting the tailgate 12. From the first value 44 for the motor current, the second value 46 for the motor current is subtracted, as a result of which the first precontrol value 36 results. The first precontrol value 36 thus takes into account how much current actually has to be applied to the electric motor 14 in order to hold the tailgate 12 taking into account the inclination angle ⁇ , the angular position ⁇ and the ambient temperature T. This first precontrol value 36 already flows once into the precontrol 28.
  • a load-dependent state variable in the form of a current value 35 measured at the electric motor 14 with the first pre-control value 36.
  • the current value 35 adjusts depending on the load and in dependence on the manipulated variable 34, which results from the controller 26 and the pilot control 28.
  • the rotational speed of the electric motor 14 could be measured and based on the current 35 calculated.
  • the first precontrol value 36 is thus subtracted from the current value 35 , as a result of which a difference 48 results. If the angle of inclination ⁇ and the ambient temperature T were the only influencing variables on the force to be applied for adjusting the tailgate 12, then the difference 48 would not be present, ie the current value 35 and the first pilot value 36 would be the same. However, since other restrictions on the adjustment of the tailgate 12 usually occur, which vary not only in dependence on the inclination angle ⁇ and the ambient temperature T, results for the difference 48, a value not equal to zero.
  • a reference characteristic in the form of a Mecha ⁇ nik reference current characteristic 50 which a predetermined course of a second pilot value 52, in the form of a current value, in turn, in turn from the angle ⁇ position ⁇ of the motor shaft of the electric motor 14 and an on ⁇ control direction 54 of the tailgate 12 describes.
  • the second pilot value 38 is adjusted accordingly. The thus determined second pilot value 38 also flows into the pilot control 28 of the control loop 20.
  • the second precontrol value 38 can also be incorporated into an anti-pinch protection algorithm, which is not shown here, and serves to protect the electric motor 14 in the event of trapping of objects, such as, for example
  • the second precontrol value 38 it is thus possible to adapt an anti-pinch algorithm to the relevant tailgate 12. Because the expected current flow at the electric motor 14 is calculated taking into account the vehicle inclination, ie the inclination angle ⁇ , and the ambient temperature T with the aid of the weight-force-current characteristic 40 and the support current map 42 in advance and in the control and activation of the Electric motor 14 when adjusting the tailgate 12 considered. In addition, by adaptation of the second precontrol value 52 on the basis of the mechanical reference current characteristic 50 and the determined difference 48 in the models 42, 44, mechanical effects not yet considered or modeled can be detected.
  • respective clamping force thresholds can be reduced because the occurring during each adjustment of the tailgate 12 disturbances or current increases are already known and no longer have to go through the adaptation in the calculation of the clamping force with the adaptation. Because the described adaptation in the form of the determination of the two pilot values 36, 38 takes place separately for the respectively different drive directions 54, a direction-dependent behavior of the tailgate 12 can also be taken into account. The procedure described here is applicable not only to adjustable by means of electric motors 14 tailgates 12.

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  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention a pour objet un système et un procédé de réglage d'une pièce extérieure de véhicule. L'invention concerne un procédé de réglage d'une pièce extérieure de véhicule (12). Selon ledit procédé, un dispositif d'entraînement (14) est actionné au moyen d'un circuit de régulation (20) comprenant un régulateur (26) pour le réglage de la pièce extérieure de véhicule, au moins une grandeur d'influence (φ, T) étant enregistrée, laquelle présente une influence extérieure sur une force à appliquer pour le réglage de la pièce extérieure de véhicule (12) ; une valeur (36) de commande pilote pour une commande pilote (28) du circuit de régulation (20) est déterminée sur la base de la ou des grandeurs d'influence (φ, T) enregistrées et d'un modèle (40, 42) fourni, lequel décrit un rapport entre la ou les grandeurs d'influence (φ, T) et la force à appliquer pour le réglage de la pièce extérieure de véhicule (12) ; la commande pilote (28) est actionnée au moyen de la valeur (36) de commande pilote enregistrée. L'invention concerne en outre un système (18) pour le réglage d'une pièce extérieure de véhicule (12).
PCT/EP2017/069382 2016-08-01 2017-08-01 Système et procédé de réglage d'une pièce extérieure de véhicule WO2018024704A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016214129.5A DE102016214129A1 (de) 2016-08-01 2016-08-01 System und Verfahren zum Verstellen eines Fahrzeugaußenteils
DE102016214129.5 2016-08-01

Publications (1)

Publication Number Publication Date
WO2018024704A1 true WO2018024704A1 (fr) 2018-02-08

Family

ID=59702667

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/069382 WO2018024704A1 (fr) 2016-08-01 2017-08-01 Système et procédé de réglage d'une pièce extérieure de véhicule

Country Status (2)

Country Link
DE (1) DE102016214129A1 (fr)
WO (1) WO2018024704A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2307758A (en) * 1995-12-01 1997-06-04 Multimatic Inc Power closure panel control system
US20020180269A1 (en) * 2000-09-14 2002-12-05 Lambros Dalakuras Method for making allowance for the vehicle attitude on operating cosing piece systems on motor vehicles
FR2895100A1 (fr) * 2005-12-19 2007-06-22 Renault Sas Systeme et procede de pilotage d'un ouvrant motorise pour vehicule automobile.

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202006008465U1 (de) * 2006-05-24 2007-10-04 BROSE SCHLIEßSYSTEME GMBH & CO. KG Steuerungsvorrichtung und Verstellsystem eines Kraftfahrzeuges
DE102009043037B4 (de) * 2009-09-25 2013-10-10 Audi Ag Verfahren zur Steuerung einer Antriebseinheit einer einklemmüberwachten Heckklappe eines Kraftfahrzeugs

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2307758A (en) * 1995-12-01 1997-06-04 Multimatic Inc Power closure panel control system
US20020180269A1 (en) * 2000-09-14 2002-12-05 Lambros Dalakuras Method for making allowance for the vehicle attitude on operating cosing piece systems on motor vehicles
FR2895100A1 (fr) * 2005-12-19 2007-06-22 Renault Sas Systeme et procede de pilotage d'un ouvrant motorise pour vehicule automobile.

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